ContactImplicitMPC.jl examples

October 4, 2021 ยท View on GitHub

This directory contains examples of contact-implicit model-predictive control. The .jl files in each subdirectory are meant to be processed using Literate.jl. During the build process, the .jl files are converted to notebooks.

The initial installation of the package includes a number of pre-generated examples: flamingo, pushbot, hopper, and quadruped. You can generate Jupyter notebooks and run them locally by performing the following steps:

  1. install ContactImplicitMPC.jl
  2. install IJulia (add it to the default project)
  3. in the Julia REPL, run (do once) 
    using Pkg
Pkg.build("ContactImplicitMPC")
  4. interact with notebooks 
    using IJulia, ContactImplicitMPC
notebook(dir=joinpath(dirname(pathof(ContactImplicitMPC)), "..", "examples"))

Additional examples can be run by first generating the models and simulations. Note that this may take 30-60 minutes.

  1. in the Julia REPL, run (do once) 
    include(joinpath(dirname(pathof(ContactImplicitMPC)), "..", "examples/generate_examples.jl"))